mirror of https://github.com/ArduPilot/ardupilot
26 lines
660 B
C++
26 lines
660 B
C++
#include "Sub.h"
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// read_inertia - read inertia in from accelerometers
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void Sub::read_inertia()
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{
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// inertial altitude estimates
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inertial_nav.update();
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// pull position from ahrs
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Location loc;
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ahrs.get_location(loc);
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current_loc.lat = loc.lat;
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current_loc.lng = loc.lng;
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// exit immediately if we do not have an altitude estimate
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if (!inertial_nav.get_filter_status().flags.vert_pos) {
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return;
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}
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current_loc.alt = inertial_nav.get_position_z_up_cm();
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// get velocity, altitude is always absolute frame, referenced from
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// water's surface
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climb_rate = inertial_nav.get_velocity_z_up_cms();
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}
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